
/**
  ******************************************************************************
  * Copyright 2021 The Microbee Authors. All Rights Reserved.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  * 
  * http://www.apache.org/licenses/LICENSE-2.0
  * 
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  * 
  * @file       ahrs_ekf.h
  * @author     baiyang
  * @date       2021-10-31
  ******************************************************************************
  */

#pragma once

#ifdef __cplusplus
extern "C"{
#endif

/*----------------------------------include-----------------------------------*/
#include <stdint.h>
/*-----------------------------------macro------------------------------------*/

/*----------------------------------typedef-----------------------------------*/

/*----------------------------------variable----------------------------------*/

/*-------------------------------------os-------------------------------------*/

/*----------------------------------function----------------------------------*/
void ahrs_ekf_init();
void ahrs_ekf_update();

void ahrs_ekf_update_baro_sample();
void ahrs_ekf_update_compass_sample();
void ahrs_ekf_update_gps_sample();
void ahrs_ekf_update_airspeed_sample();

void ahrs_ekf_publish_attitude(const uint64_t timestamp);
void ahrs_ekf_publish_local_position(const uint64_t timestamp);
void ahrs_ekf_publish_global_position(const uint64_t timestamp);
void ahrs_ekf_publish_innovations(const uint64_t timestamp);
void ahrs_ekf_publish_status(const uint64_t timestamp);
void ahrs_ekf_publish_wind_estimate(const uint64_t timestamp);
void ahrs_ekf_publish_sensor_bias(const uint64_t timestamp);
void ahrs_ekf_publish_yaw_estimator_status(const uint64_t timestamp);

void ahrs_ekf_assign_param();
/*------------------------------------test------------------------------------*/

#ifdef __cplusplus
}
#endif



